function [X_dot] = plant_load(x, F_in, M_in)

global g m_o J0_x J0_y J0_z
global a1_0 a2_0 a3_0

X_dot = zeros(12,1);

% 这里的x应该是货物的x，暂且先这样书写，后面要改 TODO
X_dot(1) = x(2);
X_dot(2) = M_in(1) / J0_x + a1_0 * x(4) * x(6);
X_dot(3) = x(4);
X_dot(4) = M_in(2) / J0_y + a2_0 * x(2) * x(6);
X_dot(5) = x(6);
X_dot(6) = M_in(3) / J0_z + a3_0 * x(2) * x(4);
X_dot(7) = x(8);
X_dot(8) = F_in(1)/m_o;
X_dot(9) = x(10);
X_dot(10) = F_in(2)/m_o;
X_dot(11) = x(12);
X_dot(12) = F_in(3)/m_o - g;
end 

